This change introduces MjVFS, an explicit object to mirror the C mjVFS. This is meant to replace the MjSpec.assets dict. This latter while convenient guides users towards harmful authoring patterns with respect to data duplication and spec attachment workflows. Making VFS management explicit should encourage better memory usage and allow us to make better compile time optimizations.
From this change, `spec.assets` is deprecated. However we will temporarily support backwards compatibility due to the wide spread usage. An error will be thrown if calling code tries to use a spec that uses both the assets dict and the new MjVfs.
PiperOrigin-RevId: 908772050
Change-Id: I77c6d0369307fc300c954768fed17401261e18da
When compiling with threading, we will block the main thread anyways waiting for all threads to complete.
PiperOrigin-RevId: 854230560
Change-Id: Ief689d381afaa3aacc5d712a8df0cb4b6762251c
The path has already been stripped while parsing. This will enable prefixes that contain a `/` while attaching.
Also use `spec.meshdir` for asset paths in `spec.to_zip()`.
PiperOrigin-RevId: 794573523
Change-Id: Ic36bb641c3d72848399006cf718afd8542e91ed4
This should enable other pybind modules to accept arguments of type MjSpec.
PiperOrigin-RevId: 745580987
Change-Id: I435a8d264149369e3fbee14c5d2c628ef74b2541
Sam Haves